Diff: Motor/Motor.h

Revision:

2:32d2cd7d744b

Parent:

1:5b0303768126

Child:

3:8790e69f8c59

--- a/Motor/Motor.h	Tue Jan 21 11:10:33 2020 +0000
+++ b/Motor/Motor.h	Thu Jan 23 09:16:38 2020 +0000
@@ -1,40 +1,76 @@
-#ifndef  MOTOR_H_
-#define  MOTOR_H_
+#ifndef MOTOR_H_
+#define MOTOR_H_
+
+#include <stdint.h>
 
-#include "mbed.h"
+//#define USE_MOTOR0_SENSOR
+namespace MOTOR
+{
+    #define FREE    0
+    #define BACK    1
+    #define FOR     2
+    #define BRAKE   3
+
+    #define MOUNTING_MOTOR_NUM 5
 
-typedef enum dire {
-    FREE  = 0,
-    FOR   = 1,
-    BACK  = 2,
-    BRAKE = 3,
-}dire;
+    #define MOTOR0_D1 directions[0]
+    #define MOTOR0_D2 directions[1]
+    #define MOTOR1_D1 directions[2]
+    #define MOTOR1_D2 directions[3]
+    #define MOTOR2_D1 directions[4]
+    #define MOTOR2_D2 directions[5]
+    #define MOTOR3_D1 directions[6]
+    #define MOTOR3_D2 directions[7]
+    #define MOTOR4_D1 directions[8]
+    #define MOTOR4_D2 directions[9]
+
+    #define MOTOR0_D1_PIN D3
+    #define MOTOR0_D2_PIN D4
+    #define MOTOR1_D1_PIN D5
+    #define MOTOR1_D2_PIN D6
+    #define MOTOR2_D1_PIN D8
+    #define MOTOR2_D2_PIN D9
+    #define MOTOR3_D1_PIN D12
+    #define MOTOR3_D2_PIN A3
+    #define MOTOR4_D1_PIN A1
+    #define MOTOR4_D2_PIN A0
 
-class MOTOR {
-    public:
-        // 
-        MOTOR(PinName D1, PinName D2, PinName pwm);
-        /* direction
-            FREE
-            FOR
-            BACK
-            BRAKE
-        */
-        /* pwm
-            pwm is 0 ~ 255(%)
-        */
-        // durection and pwm set
-        void Dir(dire mode, uint8_t pwm);
-        // direction set
-        void Dir(dire mode);
-        // pwm set
-        void PWM(uint8_t pwm);
-        
-    private:
-        DigitalOut D1_;
-        DigitalOut D2_;
-        PwmOut     pwm_;
-};
+    #define MOTOR0_PWM_PIN D2
+    #define MOTOR1_PWM_PIN D7
+    #define MOTOR2_PWM_PIN D10
+    #define MOTOR3_PWM_PIN D11
+    #define MOTOR4_PWM_PIN A2
+    
+    #ifdef USE_MOTOR0_SENSOR
+        #define MOTOR_START_NUM 1
+    #else 
+        #define MOTOR_START_NUM 0
+    #endif
 
-#endif //MOTOR_H_
+    typedef struct
+    {
+        union
+        {
+            struct
+            {
+                unsigned int d2 : 1;
+                unsigned int d1 : 1;
+                unsigned int : 6;
+            };
+            uint8_t dir;
+        };
+        float pwm;
+    }MotorStatus;
 
+    class Motor
+    {
+        public:
+            static void Initialize(void);
+            static void Update(MotorStatus *status);
+            static void SetDefault(void);
+            static int SetStatus(float pwm);
+            static float SetPWM(float pwm);
+    };
+}
+
+#endif